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<div class="header">
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
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<div class="title">pcl::PointCloud&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> represents the base class in PCL for storing collections of 3D points.  
 <a href="classpcl_1_1_point_cloud.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="common_2include_2pcl_2point__cloud_8h_source.html">point_cloud.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a6a2e5a4dd3d3bfb7a60bd54071878809"><td class="memItemLeft" align="right" valign="top"><a id="a6a2e5a4dd3d3bfb7a60bd54071878809"></a>
typedef <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointType</b></td></tr>
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typedef std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VectorType</b></td></tr>
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<tr class="memitem:a4657f95425ac2785a5b86e3c3d7ff212"><td class="memItemLeft" align="right" valign="top"><a id="a4657f95425ac2785a5b86e3c3d7ff212"></a>
typedef std::vector&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudVectorType</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&#160;</td><td class="memItemRight" valign="bottom"><b>value_type</b></td></tr>
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typedef <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>reference</b></td></tr>
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typedef const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>const_reference</b></td></tr>
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typedef VectorType::difference_type&#160;</td><td class="memItemRight" valign="bottom"><b>difference_type</b></td></tr>
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typedef VectorType::size_type&#160;</td><td class="memItemRight" valign="bottom"><b>size_type</b></td></tr>
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typedef VectorType::iterator&#160;</td><td class="memItemRight" valign="bottom"><b>iterator</b></td></tr>
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typedef VectorType::const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>const_iterator</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a06d2d868269c767930f24ac273ed9e05"><td class="memItemLeft" align="right" valign="top"><a id="a06d2d868269c767930f24ac273ed9e05"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a06d2d868269c767930f24ac273ed9e05">PointCloud</a> ()</td></tr>
<tr class="memdesc:a06d2d868269c767930f24ac273ed9e05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor. Sets <a class="el" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> to true, <a class="el" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> and <a class="el" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> to 0, and the <a class="el" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> and <a class="el" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> to identity. <br /></td></tr>
<tr class="separator:a06d2d868269c767930f24ac273ed9e05"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac32b534164db32cebec965ed5507e490"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">PointCloud</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;pc)</td></tr>
<tr class="memdesc:ac32b534164db32cebec965ed5507e490"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor (needed by compilers such as Intel C++)  <a href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">更多...</a><br /></td></tr>
<tr class="separator:ac32b534164db32cebec965ed5507e490"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4f4e3cd77252d0256e96de21d1f0219d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a4f4e3cd77252d0256e96de21d1f0219d">PointCloud</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;pc)</td></tr>
<tr class="memdesc:a4f4e3cd77252d0256e96de21d1f0219d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor (needed by compilers such as Intel C++)  <a href="classpcl_1_1_point_cloud.html#a4f4e3cd77252d0256e96de21d1f0219d">更多...</a><br /></td></tr>
<tr class="separator:a4f4e3cd77252d0256e96de21d1f0219d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a482d4048581443749a04e3aabb3691"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">PointCloud</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;pc, const std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a2a482d4048581443749a04e3aabb3691"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor from point cloud subset  <a href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">更多...</a><br /></td></tr>
<tr class="separator:a2a482d4048581443749a04e3aabb3691"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5892ddcac7bafdcf659551846ac6aae"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">PointCloud</a> (uint32_t width_, uint32_t height_, const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;value_=<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>())</td></tr>
<tr class="memdesc:ab5892ddcac7bafdcf659551846ac6aae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Allocate constructor from point cloud subset  <a href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">更多...</a><br /></td></tr>
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<tr class="memitem:aa614daa65a6a30956886ccd24e5fa4d4"><td class="memItemLeft" align="right" valign="top"><a id="aa614daa65a6a30956886ccd24e5fa4d4"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#aa614daa65a6a30956886ccd24e5fa4d4">~PointCloud</a> ()</td></tr>
<tr class="memdesc:aa614daa65a6a30956886ccd24e5fa4d4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:aa614daa65a6a30956886ccd24e5fa4d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a335a1cf1c305cc563f9ebeb2a61f994b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a335a1cf1c305cc563f9ebeb2a61f994b">operator+=</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;rhs)</td></tr>
<tr class="memdesc:a335a1cf1c305cc563f9ebeb2a61f994b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point cloud to the current cloud.  <a href="classpcl_1_1_point_cloud.html#a335a1cf1c305cc563f9ebeb2a61f994b">更多...</a><br /></td></tr>
<tr class="separator:a335a1cf1c305cc563f9ebeb2a61f994b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5959e2829b27d093904c222257f1b1c"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ac5959e2829b27d093904c222257f1b1c">operator+</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;rhs)</td></tr>
<tr class="memdesc:ac5959e2829b27d093904c222257f1b1c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a point cloud to another cloud.  <a href="classpcl_1_1_point_cloud.html#ac5959e2829b27d093904c222257f1b1c">更多...</a><br /></td></tr>
<tr class="separator:ac5959e2829b27d093904c222257f1b1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1155fe4ba5cdc7e83cb72159a4ea02dc"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> (int column, int row) const</td></tr>
<tr class="memdesc:a1155fe4ba5cdc7e83cb72159a4ea02dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">更多...</a><br /></td></tr>
<tr class="separator:a1155fe4ba5cdc7e83cb72159a4ea02dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c2d1f3d8682ca228873ce1c5cc7c4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">at</a> (int column, int row)</td></tr>
<tr class="memdesc:a930c2d1f3d8682ca228873ce1c5cc7c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">更多...</a><br /></td></tr>
<tr class="separator:a930c2d1f3d8682ca228873ce1c5cc7c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a91451e94e3c4d3bbe1e0a499de5163f4"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a91451e94e3c4d3bbe1e0a499de5163f4">operator()</a> (size_t column, size_t row) const</td></tr>
<tr class="memdesc:a91451e94e3c4d3bbe1e0a499de5163f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a91451e94e3c4d3bbe1e0a499de5163f4">更多...</a><br /></td></tr>
<tr class="separator:a91451e94e3c4d3bbe1e0a499de5163f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72a535e193c4669ece027971e7fa21a2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a72a535e193c4669ece027971e7fa21a2">operator()</a> (size_t column, size_t row)</td></tr>
<tr class="memdesc:a72a535e193c4669ece027971e7fa21a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).  <a href="classpcl_1_1_point_cloud.html#a72a535e193c4669ece027971e7fa21a2">更多...</a><br /></td></tr>
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<tr class="memitem:a914dbcef25abdb46f32991ac112002e7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> () const</td></tr>
<tr class="memdesc:a914dbcef25abdb46f32991ac112002e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return whether a dataset is organized (e.g., arranged in a structured grid).  <a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">更多...</a><br /></td></tr>
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<tr class="memitem:ab9486898ac363e8206829da7c01ea62d"><td class="memItemLeft" align="right" valign="top">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">getMatrixXfMap</a> (int dim, int stride, int offset)</td></tr>
<tr class="memdesc:ab9486898ac363e8206829da7c01ea62d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <a class="anchor" id="getMatrixXfMap"></a> <a href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">更多...</a><br /></td></tr>
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<tr class="memitem:a0fb96c26772eca605280d622efe35995"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">getMatrixXfMap</a> (int dim, int stride, int offset) const</td></tr>
<tr class="memdesc:a0fb96c26772eca605280d622efe35995"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <a class="anchor" id="getMatrixXfMap"></a> <a href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">更多...</a><br /></td></tr>
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<tr class="memitem:a194a19cac54494383e3706a72f4240fb"><td class="memItemLeft" align="right" valign="top">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">getMatrixXfMap</a> ()</td></tr>
<tr class="memdesc:a194a19cac54494383e3706a72f4240fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>.  <a href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">更多...</a><br /></td></tr>
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<tr class="memitem:ada3e021bcb3f4d8d62ea3f00324fc126"><td class="memItemLeft" align="right" valign="top">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">getMatrixXfMap</a> () const</td></tr>
<tr class="memdesc:ada3e021bcb3f4d8d62ea3f00324fc126"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return an Eigen MatrixXf (assumes float values) mapped to the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>.  <a href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">更多...</a><br /></td></tr>
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iterator&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> ()</td></tr>
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iterator&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> ()</td></tr>
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const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> () const</td></tr>
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const_iterator&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> () const</td></tr>
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size_t&#160;</td><td class="memItemRight" valign="bottom"><b>size</b> () const</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>reserve</b> (size_t n)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>empty</b> () const</td></tr>
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<tr class="memitem:a2d60b6927b31ef89cd3b97e8173ea4aa"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (size_t n)</td></tr>
<tr class="memdesc:a2d60b6927b31ef89cd3b97e8173ea4aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resize the cloud  <a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">更多...</a><br /></td></tr>
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const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator[]</b> (size_t n) const</td></tr>
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<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator[]</b> (size_t n)</td></tr>
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const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>at</b> (size_t n) const</td></tr>
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<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>at</b> (size_t n)</td></tr>
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const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>front</b> () const</td></tr>
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<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>front</b> ()</td></tr>
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const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>back</b> () const</td></tr>
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<a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>back</b> ()</td></tr>
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<tr class="memitem:a0b4d7abee110e47d90635eb042488bb4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt)</td></tr>
<tr class="memdesc:a0b4d7abee110e47d90635eb042488bb4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud, at the end of the container.  <a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">更多...</a><br /></td></tr>
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<tr class="memitem:a75387c07a2d24ee943eb71ab1c00e4a7"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">insert</a> (iterator position, const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt)</td></tr>
<tr class="memdesc:a75387c07a2d24ee943eb71ab1c00e4a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud, given an iterator.  <a href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">更多...</a><br /></td></tr>
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<tr class="memitem:a70ff499c4a3f9398bc3d1629b066db30"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">insert</a> (iterator position, size_t n, const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;pt)</td></tr>
<tr class="memdesc:a70ff499c4a3f9398bc3d1629b066db30"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new point in the cloud N times, given an iterator.  <a href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">更多...</a><br /></td></tr>
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<tr class="memitem:a3cccb494b2875101b528a8919c738f9b"><td class="memTemplParams" colspan="2">template&lt;class InputIterator &gt; </td></tr>
<tr class="memitem:a3cccb494b2875101b528a8919c738f9b"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">insert</a> (iterator position, InputIterator first, InputIterator last)</td></tr>
<tr class="memdesc:a3cccb494b2875101b528a8919c738f9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Insert a new range of points in the cloud, at a certain position.  <a href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">更多...</a><br /></td></tr>
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<tr class="memitem:a06463926e7cbe52ed3c024c7bc7565d3"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">erase</a> (iterator position)</td></tr>
<tr class="memdesc:a06463926e7cbe52ed3c024c7bc7565d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erase a point in the cloud.  <a href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">更多...</a><br /></td></tr>
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<tr class="memitem:a2901a922dac074254160e1e11912d2c5"><td class="memItemLeft" align="right" valign="top">iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">erase</a> (iterator first, iterator last)</td></tr>
<tr class="memdesc:a2901a922dac074254160e1e11912d2c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Erase a set of points given by a (first, last) iterator pair  <a href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">更多...</a><br /></td></tr>
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<tr class="memitem:ab4a0b63e9c8442286b08336f8385a9ea"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">swap</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;rhs)</td></tr>
<tr class="memdesc:ab4a0b63e9c8442286b08336f8385a9ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Swap a point cloud with another cloud.  <a href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">更多...</a><br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ()</td></tr>
<tr class="memdesc:a963c0da7320055c79e5af0df4f6ad224"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes all points in a cloud and sets the width and height to 0. <br /></td></tr>
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<tr class="memitem:afebbbb9c522a94cf245dd3968b50ed5e"><td class="memItemLeft" align="right" valign="top">Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">makeShared</a> () const</td></tr>
<tr class="memdesc:afebbbb9c522a94cf245dd3968b50ed5e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. The changes of the returned cloud are not mirrored back to this one.  <a href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public 属性</h2></td></tr>
<tr class="memitem:a82e0be055a617e5e74102ed62712b352"><td class="memItemLeft" align="right" valign="top"><a id="a82e0be055a617e5e74102ed62712b352"></a>
<a class="el" href="structpcl_1_1_p_c_l_header.html">pcl::PCLHeader</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a></td></tr>
<tr class="memdesc:a82e0be055a617e5e74102ed62712b352"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud header. It contains information about the acquisition time. <br /></td></tr>
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std::vector&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a></td></tr>
<tr class="memdesc:af16a62638198313b9c093127c492c884"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point data. <br /></td></tr>
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<tr class="memitem:a2185a6453f8ad905d7bdf7b45754a160"><td class="memItemLeft" align="right" valign="top"><a id="a2185a6453f8ad905d7bdf7b45754a160"></a>
uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a></td></tr>
<tr class="memdesc:a2185a6453f8ad905d7bdf7b45754a160"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud width (if organized as an image-structure). <br /></td></tr>
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uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a></td></tr>
<tr class="memdesc:a4f34b45220c57f96607513ffad0d9582"><td class="mdescLeft">&#160;</td><td class="mdescRight">The point cloud height (if organized as an image-structure). <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a></td></tr>
<tr class="memdesc:a3ca88d8ebf6f4f35acbc31cdfb38aa94"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if no points are invalid (e.g., have NaN or Inf values). <br /></td></tr>
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Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a></td></tr>
<tr class="memdesc:aad7c2cd4b0d1c7f0fbc096276b5e2230"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor acquisition pose (origin/translation). <br /></td></tr>
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<tr class="memitem:a5de17e88bdf15e1c4fd1bcc6b85b1941"><td class="memItemLeft" align="right" valign="top"><a id="a5de17e88bdf15e1c4fd1bcc6b85b1941"></a>
Eigen::Quaternionf&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a></td></tr>
<tr class="memdesc:a5de17e88bdf15e1c4fd1bcc6b85b1941"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sensor acquisition pose (rotation). <br /></td></tr>
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Protected 属性</h2></td></tr>
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boost::shared_ptr&lt; MsgFieldMap &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>mapping_</b></td></tr>
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友元</h2></td></tr>
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boost::shared_ptr&lt; MsgFieldMap &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>detail::getMapping</b> (<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;p)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::PointCloud&lt; PointT &gt;</h3>

<p><a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> represents the base class in PCL for storing collections of 3D points. </p>
<p>The class is templated, which means you need to specify the type of data that it should contain. For example, to create a point cloud that holds 4 random XYZ data points, use:</p>
<div class="fragment"><div class="line"><a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a> cloud;</div>
<div class="line">cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> (rand (), rand (), rand ())); </div>
<div class="line">cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> (rand (), rand (), rand ())); </div>
<div class="line">cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> (rand (), rand (), rand ())); </div>
<div class="line">cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> (rand (), rand (), rand ())); </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZ &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
</div><!-- fragment --><p>The <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> class contains the following elements:</p><ul>
<li><b>width</b> - specifies the width of the point cloud dataset in the number of points. WIDTH has two meanings:<ul>
<li>it can specify the total number of points in the cloud (equal with POINTS see below) for unorganized datasets;</li>
<li>it can specify the width (total number of points in a row) of an organized point cloud dataset. <em>Mandatory</em>.</li>
</ul>
</li>
<li><b>height</b> - specifies the height of the point cloud dataset in the number of points. HEIGHT has two meanings:<ul>
<li>it can specify the height (total number of rows) of an organized point cloud dataset;</li>
<li>it is set to 1 for unorganized datasets (thus used to check whether a dataset is organized or not). <em>Mandatory</em>.</li>
</ul>
</li>
<li><b>points</b> - the data array where all points of type <b>PointT</b> are stored. <em>Mandatory</em>.</li>
<li><b>is_dense</b> - specifies if all the data in <b>points</b> is finite (true), or whether it might contain Inf/NaN values (false). <em>Mandatory</em>.</li>
<li><b>sensor_origin_</b> - specifies the sensor acquisition pose (origin/translation). <em>Optional</em>.</li>
<li><b>sensor_orientation_</b> - specifies the sensor acquisition pose (rotation). <em>Optional</em>.</li>
</ul>
<dl class="section author"><dt>作者</dt><dd>Patrick Mihelich, Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="ac32b534164db32cebec965ed5507e490"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac32b534164db32cebec965ed5507e490">&#9670;&nbsp;</a></span>PointCloud() <span class="overload">[1/4]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>pc</em></td><td>)</td>
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<p>Copy constructor (needed by compilers such as Intel C++) </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">pc</td><td>the cloud to copy into this </td></tr>
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<div class="fragment"><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                                          : </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> (), <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> (), <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> (0), <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> (0), <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> (<span class="keyword">true</span>), </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> (Eigen::Vector4f::Zero ()), <a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> (Eigen::Quaternionf::Identity ()),</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        mapping_ ()</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        *<span class="keyword">this</span> = pc;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4f4e3cd77252d0256e96de21d1f0219d">&#9670;&nbsp;</a></span>PointCloud() <span class="overload">[2/4]</span></h2>

<div class="memitem">
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template&lt;typename PointT &gt; </div>
<table class="mlabels">
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          <td class="memname"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>pc</em></td><td>)</td>
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<p>Copy constructor (needed by compilers such as Intel C++) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pc</td><td>the cloud to copy into this </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                                                : </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> (), <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> (), <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> (0), <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> (0), <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> (<span class="keyword">true</span>), </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> (Eigen::Vector4f::Zero ()), <a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> (Eigen::Quaternionf::Identity ()),</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        mapping_ ()</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        *<span class="keyword">this</span> = pc;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2a482d4048581443749a04e3aabb3691">&#9670;&nbsp;</a></span>PointCloud() <span class="overload">[3/4]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>pc</em>, </td>
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          <td>)</td>
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<p>Copy constructor from point cloud subset </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pc</td><td>the cloud to copy into this </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>the subset to copy </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                                                 :</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> (pc.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>), <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> (indices.size ()), <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> (indices.size ()), <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> (1), <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> (pc.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>),</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> (pc.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>), <a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> (pc.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>),</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        mapping_ ()</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="comment">// Copy the obvious</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        assert (indices.size () &lt;= pc.size ());</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); i++)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]];</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      }</div>
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<a id="ab5892ddcac7bafdcf659551846ac6aae"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab5892ddcac7bafdcf659551846ac6aae">&#9670;&nbsp;</a></span>PointCloud() <span class="overload">[4/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> </td>
          <td>(</td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>width_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>height_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>value_</em> = <code><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&#160;()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Allocate constructor from point cloud subset </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">width_</td><td>the cloud width </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height_</td><td>the cloud height </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">value_</td><td>default value </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        : <a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> ()</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        , <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a> (width_ * height_, value_)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        , <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> (width_)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        , <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> (height_)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        , <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> (<span class="keyword">true</span>)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        , <a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> (Eigen::Vector4f::Zero ())</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        , <a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> (Eigen::Quaternionf::Identity ())</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        , mapping_ ()</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      {}</div>
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<h2 class="groupheader">成员函数说明</h2>
<a id="a930c2d1f3d8682ca228873ce1c5cc7c4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a930c2d1f3d8682ca228873ce1c5cc7c4">&#9670;&nbsp;</a></span>at() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::at </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>column</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>row</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">column</td><td>the column coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">row</td><td>the row coordinate </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      {</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <span class="keywordflow">if</span> (this-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> &gt; 1)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.at (row * this-&gt;width + column));</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;          <span class="keywordflow">throw</span> IsNotDenseException (<span class="stringliteral">&quot;Can&#39;t use 2D indexing with a unorganized point cloud&quot;</span>);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      }</div>
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<a id="a1155fe4ba5cdc7e83cb72159a4ea02dc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1155fe4ba5cdc7e83cb72159a4ea02dc">&#9670;&nbsp;</a></span>at() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::at </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>column</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>row</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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<p>Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">column</td><td>the column coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">row</td><td>the row coordinate </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      {</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <span class="keywordflow">if</span> (this-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> &gt; 1)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.at (row * this-&gt;width + column));</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;          <span class="keywordflow">throw</span> IsNotDenseException (<span class="stringliteral">&quot;Can&#39;t use 2D indexing with a unorganized point cloud&quot;</span>);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      }</div>
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<a id="a2901a922dac074254160e1e11912d2c5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2901a922dac074254160e1e11912d2c5">&#9670;&nbsp;</a></span>erase() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">iterator <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::erase </td>
          <td>(</td>
          <td class="paramtype">iterator&#160;</td>
          <td class="paramname"><em>first</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">iterator&#160;</td>
          <td class="paramname"><em>last</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Erase a set of points given by a (first, last) iterator pair </p>
<dl class="section note"><dt>注解</dt><dd>This breaks the organized structure of the cloud by setting the height to 1! </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">first</td><td>where to start erasing points from </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">last</td><td>where to stop erasing points from </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>returns the new position iterator </dd></dl>
<div class="fragment"><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      {</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        iterator it = <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.erase (first, last);</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;        <span class="keywordflow">return</span> (it);</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      }</div>
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<a id="a06463926e7cbe52ed3c024c7bc7565d3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a06463926e7cbe52ed3c024c7bc7565d3">&#9670;&nbsp;</a></span>erase() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">iterator <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::erase </td>
          <td>(</td>
          <td class="paramtype">iterator&#160;</td>
          <td class="paramname"><em>position</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Erase a point in the cloud. </p>
<dl class="section note"><dt>注解</dt><dd>This breaks the organized structure of the cloud by setting the height to 1! </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">position</td><td>what data point to erase </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>returns the new position iterator </dd></dl>
<div class="fragment"><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      {</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;        iterator it = <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.erase (position); </div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        <span class="keywordflow">return</span> (it);</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      }</div>
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</div>
</div>
<a id="a194a19cac54494383e3706a72f4240fb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a194a19cac54494383e3706a72f4240fb">&#9670;&nbsp;</a></span>getMatrixXfMap() <span class="overload">[1/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">Eigen::Map&lt;Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getMatrixXfMap </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Return an Eigen MatrixXf (assumes float values) mapped to the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. </p>
<dl class="section note"><dt>注解</dt><dd>This method is for advanced users only! Use with care! </dd></dl>
<dl class="section attention"><dt>注意</dt><dd>PointT types are most of the time aligned, so the offsets are not continuous! See <a class="el" href="classpcl_1_1_point_cloud.html#getMatrixXfMap">getMatrixXfMap</a> for more information. </dd></dl>
<div class="fragment"><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      {</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">getMatrixXfMap</a> (<span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>),  <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>), 0));</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a194a19cac54494383e3706a72f4240fb"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">pcl::PointCloud::getMatrixXfMap</a></div><div class="ttdeci">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; getMatrixXfMap()</div><div class="ttdoc">Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:390</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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<a id="ada3e021bcb3f4d8d62ea3f00324fc126"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ada3e021bcb3f4d8d62ea3f00324fc126">&#9670;&nbsp;</a></span>getMatrixXfMap() <span class="overload">[2/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">const Eigen::Map&lt;const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getMatrixXfMap </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Return an Eigen MatrixXf (assumes float values) mapped to the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. </p>
<dl class="section note"><dt>注解</dt><dd>This method is for advanced users only! Use with care! </dd></dl>
<dl class="section attention"><dt>注意</dt><dd>PointT types are most of the time aligned, so the offsets are not continuous! See <a class="el" href="classpcl_1_1_point_cloud.html#getMatrixXfMap">getMatrixXfMap</a> for more information. </dd></dl>
<div class="fragment"><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      {</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">getMatrixXfMap</a> (<span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>),  <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>), 0));</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      }</div>
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<a id="ab9486898ac363e8206829da7c01ea62d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab9486898ac363e8206829da7c01ea62d">&#9670;&nbsp;</a></span>getMatrixXfMap() <span class="overload">[3/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">Eigen::Map&lt;Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getMatrixXfMap </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>dim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>stride</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <a class="anchor" id="getMatrixXfMap"></a></p>
<dl class="section note"><dt>注解</dt><dd>This method is for advanced users only! Use with care!</dd></dl>
<dl class="section attention"><dt>注意</dt><dd>Since 1.4.0, Eigen matrices are forced to Row Major to increase the efficiency of the algorithms in PCL This means that the behavior of getMatrixXfMap changed, and is now correctly mapping 1-1 with a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> structure, that is: number of points in a cloud = rows in a matrix, number of point dimensions = columns in a matrix</dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dim</td><td>the number of dimensions to consider for each point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">stride</td><td>the number of values in each point (will be the number of values that separate two of the columns) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset</td><td>the number of dimensions to skip from the beginning of each point (stride = offset + dim + x, where x is the number of dimensions to skip from the end of each point) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>for getting only XYZ coordinates out of <a class="el" href="structpcl_1_1_point_x_y_z.html" title="A point structure representing Euclidean xyz coordinates. (SSE friendly)">PointXYZ</a> use dim=3, stride=4 and offset=0 due to the alignment. </dd></dl>
<dl class="section attention"><dt>注意</dt><dd>PointT types are most of the time aligned, so the offsets are not continuous! </dd></dl>
<div class="fragment"><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      {</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        <span class="keywordflow">if</span> (Eigen::MatrixXf::Flags &amp; Eigen::RowMajorBit)</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;          <span class="keywordflow">return</span> (Eigen::Map&lt;Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0])+offset, <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (), dim, Eigen::OuterStride&lt;&gt; (stride)));</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;          <span class="keywordflow">return</span> (Eigen::Map&lt;Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0])+offset, dim, <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (), Eigen::OuterStride&lt;&gt; (stride)));</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      }</div>
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<a id="a0fb96c26772eca605280d622efe35995"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0fb96c26772eca605280d622efe35995">&#9670;&nbsp;</a></span>getMatrixXfMap() <span class="overload">[4/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">const Eigen::Map&lt;const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getMatrixXfMap </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>dim</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>stride</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>offset</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <a class="anchor" id="getMatrixXfMap"></a></p>
<dl class="section note"><dt>注解</dt><dd>This method is for advanced users only! Use with care!</dd></dl>
<dl class="section attention"><dt>注意</dt><dd>Since 1.4.0, Eigen matrices are forced to Row Major to increase the efficiency of the algorithms in PCL This means that the behavior of getMatrixXfMap changed, and is now correctly mapping 1-1 with a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> structure, that is: number of points in a cloud = rows in a matrix, number of point dimensions = columns in a matrix</dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">dim</td><td>the number of dimensions to consider for each point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">stride</td><td>the number of values in each point (will be the number of values that separate two of the columns) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset</td><td>the number of dimensions to skip from the beginning of each point (stride = offset + dim + x, where x is the number of dimensions to skip from the end of each point) </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>for getting only XYZ coordinates out of <a class="el" href="structpcl_1_1_point_x_y_z.html" title="A point structure representing Euclidean xyz coordinates. (SSE friendly)">PointXYZ</a> use dim=3, stride=4 and offset=0 due to the alignment. </dd></dl>
<dl class="section attention"><dt>注意</dt><dd>PointT types are most of the time aligned, so the offsets are not continuous! </dd></dl>
<div class="fragment"><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keywordflow">if</span> (Eigen::MatrixXf::Flags &amp; Eigen::RowMajorBit)</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;          <span class="keywordflow">return</span> (Eigen::Map&lt;<span class="keyword">const</span> Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(<span class="keyword">const_cast&lt;</span><a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>*<span class="keyword">&gt;</span>(&amp;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]))+offset, <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (), dim, Eigen::OuterStride&lt;&gt; (stride)));</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;          <span class="keywordflow">return</span> (Eigen::Map&lt;<span class="keyword">const</span> Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(<span class="keyword">const_cast&lt;</span><a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>*<span class="keyword">&gt;</span>(&amp;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]))+offset, dim, <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (), Eigen::OuterStride&lt;&gt; (stride)));                </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      }</div>
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<a id="a75387c07a2d24ee943eb71ab1c00e4a7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a75387c07a2d24ee943eb71ab1c00e4a7">&#9670;&nbsp;</a></span>insert() <span class="overload">[1/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">iterator <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::insert </td>
          <td>(</td>
          <td class="paramtype">iterator&#160;</td>
          <td class="paramname"><em>position</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>pt</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Insert a new point in the cloud, given an iterator. </p>
<dl class="section note"><dt>注解</dt><dd>This breaks the organized structure of the cloud by setting the height to 1! </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">position</td><td>where to insert the point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to insert </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>returns the new position iterator </dd></dl>
<div class="fragment"><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;      {</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        iterator it = <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.insert (position, pt);</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;        <span class="keywordflow">return</span> (it);</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      }</div>
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</div>
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<a id="a3cccb494b2875101b528a8919c738f9b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3cccb494b2875101b528a8919c738f9b">&#9670;&nbsp;</a></span>insert() <span class="overload">[2/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<div class="memtemplate">
template&lt;class InputIterator &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::insert </td>
          <td>(</td>
          <td class="paramtype">iterator&#160;</td>
          <td class="paramname"><em>position</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">InputIterator&#160;</td>
          <td class="paramname"><em>first</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">InputIterator&#160;</td>
          <td class="paramname"><em>last</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Insert a new range of points in the cloud, at a certain position. </p>
<dl class="section note"><dt>注解</dt><dd>This breaks the organized structure of the cloud by setting the height to 1! </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">position</td><td>where to insert the data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">first</td><td>where to start inserting the points from </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">last</td><td>where to stop inserting the points from </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      {</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.insert (position, first, last);</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      }</div>
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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a70ff499c4a3f9398bc3d1629b066db30">&#9670;&nbsp;</a></span>insert() <span class="overload">[3/3]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::insert </td>
          <td>(</td>
          <td class="paramtype">iterator&#160;</td>
          <td class="paramname"><em>position</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>n</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>pt</em>&#160;</td>
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          <td>)</td>
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<p>Insert a new point in the cloud N times, given an iterator. </p>
<dl class="section note"><dt>注解</dt><dd>This breaks the organized structure of the cloud by setting the height to 1! </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">position</td><td>where to insert the point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">n</td><td>the number of times to insert the point </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to insert </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      {</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.insert (position, n, pt);</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a914dbcef25abdb46f32991ac112002e7">&#9670;&nbsp;</a></span>isOrganized()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">bool <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::isOrganized </td>
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<p>Return whether a dataset is organized (e.g., arranged in a structured grid). </p>
<dl class="section note"><dt>注解</dt><dd>The height value must be different than 1 for a dataset to be organized. </dd></dl>
<div class="fragment"><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      {</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> &gt; 1);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#afebbbb9c522a94cf245dd3968b50ed5e">&#9670;&nbsp;</a></span>makeShared()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">Ptr <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::makeShared </td>
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<p>Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. The changes of the returned cloud are not mirrored back to this one. </p>
<dl class="section return"><dt>返回</dt><dd>shared pointer to the copy of the cloud </dd></dl>
<div class="fragment"><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;{ <span class="keywordflow">return</span> Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> (*<span class="keyword">this</span>)); }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a72a535e193c4669ece027971e7fa21a2">&#9670;&nbsp;</a></span>operator()() <span class="overload">[1/2]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::operator() </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>column</em>, </td>
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          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>row</em>&#160;</td>
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<p>Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">column</td><td>the column coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">row</td><td>the row coordinate </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      {</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[row * this-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + column]);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a91451e94e3c4d3bbe1e0a499de5163f4">&#9670;&nbsp;</a></span>operator()() <span class="overload">[2/2]</span></h2>

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          <td class="memname">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::operator() </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>column</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>row</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">column</td><td>the column coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">row</td><td>the row coordinate </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[row * this-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + column]);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac5959e2829b27d093904c222257f1b1c">&#9670;&nbsp;</a></span>operator+()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::operator+ </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>rhs</em></td><td>)</td>
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<p>Add a point cloud to another cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>the cloud to add to the current cloud </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the new cloud as a concatenation of the current cloud and the new given cloud </dd></dl>
<div class="fragment"><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> (*<span class="keyword">this</span>) += rhs);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a335a1cf1c305cc563f9ebeb2a61f994b">&#9670;&nbsp;</a></span>operator+=()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::operator+= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>rhs</em></td><td>)</td>
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<p>Add a point cloud to the current cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">rhs</td><td>the cloud to add to the current cloud </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the new cloud as a concatenation of the current cloud and the new given cloud </dd></dl>
<div class="fragment"><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="comment">// Make the resultant point cloud take the newest stamp</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keywordflow">if</span> (rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>.<a class="code" href="structpcl_1_1_p_c_l_header.html#a7ccf28ecce53332cd572d1ba982a4579">stamp</a> &gt; <a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>.<a class="code" href="structpcl_1_1_p_c_l_header.html#a7ccf28ecce53332cd572d1ba982a4579">stamp</a>)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>.<a class="code" href="structpcl_1_1_p_c_l_header.html#a7ccf28ecce53332cd572d1ba982a4579">stamp</a> = rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>.<a class="code" href="structpcl_1_1_p_c_l_header.html#a7ccf28ecce53332cd572d1ba982a4579">stamp</a>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keywordtype">size_t</span> nr_points = <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (nr_points + rhs.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = nr_points; i &lt; <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i] = rhs.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i - nr_points];</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="keywordflow">if</span> (rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> &amp;&amp; <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      }</div>
<div class="ttc" id="astructpcl_1_1_p_c_l_header_html_a7ccf28ecce53332cd572d1ba982a4579"><div class="ttname"><a href="structpcl_1_1_p_c_l_header.html#a7ccf28ecce53332cd572d1ba982a4579">pcl::PCLHeader::stamp</a></div><div class="ttdeci">pcl::uint64_t stamp</div><div class="ttdoc">A timestamp associated with the time when the data was acquired</div><div class="ttdef"><b>Definition:</b> PCLHeader.h:27</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0b4d7abee110e47d90635eb042488bb4">&#9670;&nbsp;</a></span>push_back()</h2>

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<div class="memproto">
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template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::push_back </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td>
          <td class="paramname"><em>pt</em></td><td>)</td>
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<p>Insert a new point in the cloud, at the end of the container. </p>
<dl class="section note"><dt>注解</dt><dd>This breaks the organized structure of the cloud by setting the height to 1! </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">pt</td><td>the point to insert </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      {</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (pt);</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      }</div>
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<a id="a2d60b6927b31ef89cd3b97e8173ea4aa"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2d60b6927b31ef89cd3b97e8173ea4aa">&#9670;&nbsp;</a></span>resize()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::resize </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>n</em></td><td>)</td>
          <td></td>
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      </table>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Resize the cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">n</td><td>the new cloud size </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      { </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (n);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> != n)</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (n);</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        }</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      }</div>
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<a id="ab4a0b63e9c8442286b08336f8385a9ea"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab4a0b63e9c8442286b08336f8385a9ea">&#9670;&nbsp;</a></span>swap()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::swap </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>rhs</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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  <td class="mlabels-right">
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<p>Swap a point cloud with another cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in,out]</td><td class="paramname">rhs</td><td>point cloud to swap this with </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      {</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;        this-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.swap (rhs.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;        std::swap (<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>);</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;        std::swap (<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>);</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;        std::swap (<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        std::swap (<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>);</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        std::swap (<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>common/include/pcl/common/<a class="el" href="projection__matrix_8h_source.html">projection_matrix.h</a></li>
<li>common/include/pcl/<a class="el" href="common_2include_2pcl_2point__cloud_8h_source.html">point_cloud.h</a></li>
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